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<div class="title">marginal_covariance_cholesky.h</div>  </div>
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<a href="marginal__covariance__cholesky_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_MARGINAL_COVARIANCE_CHOLESKY_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;tr1/unordered_map&gt;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html">   48</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html">MarginalCovarianceCholesky</a> {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">   53</a></span>&#160;      <span class="keyword">typedef</span> std::tr1::unordered_map&lt;int, double&gt;     <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">LookupMap</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a1fab5946726badbb38c2b2aa54a0118c">MarginalCovarianceCholesky</a>();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#aafdc3a753d5b6f3fca95d5bcbca44442">~MarginalCovarianceCholesky</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a0ea50dbda0558ca98faacafc8c9f48c9">computeCovariance</a>(<span class="keywordtype">double</span>** covBlocks, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; blockIndices);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a0ea50dbda0558ca98faacafc8c9f48c9">computeCovariance</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; rowBlockIndices, <span class="keyword">const</span> std::vector&lt; std::pair&lt;int, int&gt; &gt;&amp; blockIndices);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a53bda8bc29bee2a7fb871c25a58ab191">setCholeskyFactor</a>(<span class="keywordtype">int</span> n, <span class="keywordtype">int</span>* Lp, <span class="keywordtype">int</span>* Li, <span class="keywordtype">double</span>* Lx, <span class="keywordtype">int</span>* permInv);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="comment">// information about the cholesky factor (lower triangle)</span></div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a086c541bde9958af88146788a9ac2611">   83</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a086c541bde9958af88146788a9ac2611">_n</a>;           </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a5998463e23c716bb1abb02e9b3e40e0b">   84</a></span>&#160;      <span class="keywordtype">int</span>* <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a5998463e23c716bb1abb02e9b3e40e0b">_Ap</a>;         </div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a516fa45fe98edfa0cc68fc2b0e0d5de4">   85</a></span>&#160;      <span class="keywordtype">int</span>* <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a516fa45fe98edfa0cc68fc2b0e0d5de4">_Ai</a>;         </div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a2ac05a8c32b6a2e0cdb0b6a071a7552d">   86</a></span>&#160;      <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a2ac05a8c32b6a2e0cdb0b6a071a7552d">_Ax</a>;      </div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a404f5d0ce82c2877324bafb8997b96aa">   87</a></span>&#160;      <span class="keywordtype">int</span>* <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a404f5d0ce82c2877324bafb8997b96aa">_perm</a>;       </div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a7a9d21e9ee6654b9e6d69a62e87c201a">   89</a></span>&#160;      LookupMap <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a7a9d21e9ee6654b9e6d69a62e87c201a">_map</a>;             </div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a6ceee33e0cde1d9a4888abab8b6ad712">   90</a></span>&#160;      std::vector&lt;double&gt; <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a6ceee33e0cde1d9a4888abab8b6ad712">_diag</a>;  </div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classg2o_1_1_marginal_covariance_cholesky.html#a9b0816374af957f23aa2d6b015e4b9bf">   93</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a9b0816374af957f23aa2d6b015e4b9bf">computeIndex</a>(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c)<span class="keyword"> const </span>{ <span class="comment">/*assert(r &lt;= c);*/</span> <span class="keywordflow">return</span> r*_n + c;}</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_marginal_covariance_cholesky.html#a556f8da80f0873b74b57c82b587b4f97">computeEntry</a>(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  };</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a556f8da80f0873b74b57c82b587b4f97"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a556f8da80f0873b74b57c82b587b4f97">g2o::MarginalCovarianceCholesky::computeEntry</a></div><div class="ttdeci">double computeEntry(int r, int c)</div><div class="ttdoc">compute one entry in the covariance, r and c are values after applying the permutation, and upper triangular. </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.cpp:71</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a404f5d0ce82c2877324bafb8997b96aa"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a404f5d0ce82c2877324bafb8997b96aa">g2o::MarginalCovarianceCholesky::_perm</a></div><div class="ttdeci">int * _perm</div><div class="ttdoc">permutation of the cholesky factor. Variable re-ordering for better fill-in </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:87</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a9925dd2e45479a7feb783ff71d93fdbc"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">g2o::MarginalCovarianceCholesky::LookupMap</a></div><div class="ttdeci">std::tr1::unordered_map&lt; int, double &gt; LookupMap</div><div class="ttdoc">hash struct for storing the matrix elements needed to compute the covariance </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:53</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a0ea50dbda0558ca98faacafc8c9f48c9"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a0ea50dbda0558ca98faacafc8c9f48c9">g2o::MarginalCovarianceCholesky::computeCovariance</a></div><div class="ttdeci">void computeCovariance(double **covBlocks, const std::vector&lt; int &gt; &amp;blockIndices)</div><div class="ttdoc">compute the marginal cov for the given block indices, write the result to the covBlocks memory (which...</div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.cpp:102</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a53bda8bc29bee2a7fb871c25a58ab191"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a53bda8bc29bee2a7fb871c25a58ab191">g2o::MarginalCovarianceCholesky::setCholeskyFactor</a></div><div class="ttdeci">void setCholeskyFactor(int n, int *Lp, int *Li, double *Lx, int *permInv)</div><div class="ttdoc">set the CCS representation of the cholesky factor along with the inverse permutation used to reduce t...</div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.cpp:54</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a9b0816374af957f23aa2d6b015e4b9bf"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a9b0816374af957f23aa2d6b015e4b9bf">g2o::MarginalCovarianceCholesky::computeIndex</a></div><div class="ttdeci">int computeIndex(int r, int c) const</div><div class="ttdoc">compute the index used for hashing </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:93</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a5998463e23c716bb1abb02e9b3e40e0b"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a5998463e23c716bb1abb02e9b3e40e0b">g2o::MarginalCovarianceCholesky::_Ap</a></div><div class="ttdeci">int * _Ap</div><div class="ttdoc">column pointer of the CCS storage </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:84</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html">g2o::MarginalCovarianceCholesky</a></div><div class="ttdoc">computing the marginal covariance given a cholesky factor (lower triangle of the factor) ...</div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:48</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a516fa45fe98edfa0cc68fc2b0e0d5de4"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a516fa45fe98edfa0cc68fc2b0e0d5de4">g2o::MarginalCovarianceCholesky::_Ai</a></div><div class="ttdeci">int * _Ai</div><div class="ttdoc">row indices of the CCS storage </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:85</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a7a9d21e9ee6654b9e6d69a62e87c201a"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a7a9d21e9ee6654b9e6d69a62e87c201a">g2o::MarginalCovarianceCholesky::_map</a></div><div class="ttdeci">LookupMap _map</div><div class="ttdoc">hash look up table for the already computed entries </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:89</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="sparse__block__matrix_8h_html"><div class="ttname"><a href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a1fab5946726badbb38c2b2aa54a0118c"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a1fab5946726badbb38c2b2aa54a0118c">g2o::MarginalCovarianceCholesky::MarginalCovarianceCholesky</a></div><div class="ttdeci">MarginalCovarianceCholesky()</div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.cpp:45</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a086c541bde9958af88146788a9ac2611"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a086c541bde9958af88146788a9ac2611">g2o::MarginalCovarianceCholesky::_n</a></div><div class="ttdeci">int _n</div><div class="ttdoc">L is an n X n matrix. </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:83</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_aafdc3a753d5b6f3fca95d5bcbca44442"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#aafdc3a753d5b6f3fca95d5bcbca44442">g2o::MarginalCovarianceCholesky::~MarginalCovarianceCholesky</a></div><div class="ttdeci">~MarginalCovarianceCholesky()</div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a2ac05a8c32b6a2e0cdb0b6a071a7552d"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a2ac05a8c32b6a2e0cdb0b6a071a7552d">g2o::MarginalCovarianceCholesky::_Ax</a></div><div class="ttdeci">double * _Ax</div><div class="ttdoc">values of the cholesky factor </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:86</div></div>
<div class="ttc" id="classg2o_1_1_marginal_covariance_cholesky_html_a6ceee33e0cde1d9a4888abab8b6ad712"><div class="ttname"><a href="classg2o_1_1_marginal_covariance_cholesky.html#a6ceee33e0cde1d9a4888abab8b6ad712">g2o::MarginalCovarianceCholesky::_diag</a></div><div class="ttdeci">std::vector&lt; double &gt; _diag</div><div class="ttdoc">cache 1 / H_ii to avoid recalculations </div><div class="ttdef"><b>Definition:</b> marginal_covariance_cholesky.h:90</div></div>
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